Setup Guide

Setup Guide
SINAMICS V90 and S7-1200 PLC with Pulse Train Control

Contents
Introduction................................................................................................................................................... 3
HMK Automation & Drives ........................................................................................................................ 3
Aim Summary ........................................................................................................................................... 5
Application Wiring ......................................................................................................................................... 7
Application Wiring Diagram ....................................................................................................................... 7
E-Stop Wiring for On-board SINAMICS V90 STO ..................................................................................... 8
Drive Configuration ..................................................................................................................................... 10
Inserting the Drive ................................................................................................................................... 10
Configuring the Drive .............................................................................................................................. 11
Tuning the Drive...................................................................................................................................... 15
Controller Configuration .............................................................................................................................. 19
S7-1200 Configuration ............................................................................................................................ 19
Drive Control Strategy ................................................................................................................................ 24
S7-1200 Configuration ............................................................................................................................ 24
Example Program ................................................................................................................................... 32
Appendix .................................................................................................................................................... 41
Application Wiring with Signal Board .................................................................................................... 42
Hardware Overview .................................................................................................................................... 43
S7-1200 PLC Hardware Overview .......................................................................................................... 43
SINAMICS V90 Hardware Overview ....................................................................................................... 50
Overview of the Programming Environment................................................................................................ 57
Overview of TIA Portal ............................................................................................................................ 57
Overview of V-ASSISTANT ..................................................................................................................... 69
Technology Objects .................................................................................................................................... 77
Technology Object Data Block ................................................................................................................ 77
Technology Object Function Blocks ........................................................................................................ 79
Tuning the SINAMICS V90 Drive ................................................................................................................ 90
One Button Auto-Tuning ......................................................................................................................... 90
Revision History.......................................................................................................................................... 94
1
2
Introduction
1.1 HMK Automation & Drives
Introduction 1
HMK Automation & Drives is the largest Integrated Drive Systems provider in the UK. We offer a diverse
range of general and high performance variable speed drives, motors, gearboxes and other mechanical
components as well as complete hardware & software solutions.
With a myriad of standard applications, fully supported with real world drives experience and an extensive
mechanical offer, HMK Automation & Drives is uniquely positioned to support and partner OEMs and System
Integrators alike.
The systems offered by HMK make the specification, purchase, implementation, operation and maintenance
of any drive system faster and easier than ever before. HMK provides a single point of contact for all our
customers' needs. We offer true added value, greater reliability, higher efficiency and superior productivity
in any automation environment and throughout the entire life cycle.
Our Key global supplier partners represent the very best products and technologies within the automation
market today
Engineering Team
HMKs engineering team is experienced with a broad range of automation products, including Siemens
Simotion, SINAMICS S, SINAMICS G, SINAMICS V, SIMATIC S7-1500, S7-1200, S7-400, S7-300 PLCs and
HMIs.
As well as delivering training courses, HMK engineers develop drive-based solutions for customer and can
assist with on-site commissioning and trouble shooting.
Further Information
HMKs website contains information on our products and services, as well as links to
product documentation. The website also has enquiry forms and a live chat tool.
http://www.hmkdirect.com/
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Introduction
Location
HMK Automation & Drives is located in Congleton, Cheshire.
Further Information
HMKs website has contact details for both of our sites.
http://www.hmkdirect.com/contact/
Further Information
Google Maps link for Kappa House.
https://goo.gl/maps/1Md93
Further Information
Google Maps link for Radnor Park.
https://goo.gl/maps/WH5i3
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Introduction
1.2 Aim Summary
1.2 Aim Summary
The purpose of this document is to guide the user through the set-up for control of a SINAMICS V90 drive
using S7-1200 PLC technology objects via pulse train output (PTO). Included is a guide to wiring, drive
configuration, drive tuning and commissioning, S7-1200 configuration, and programming. This document is
supported by a series of screen casts, which can be viewed by scanning the QR code at the bottom of this
page.
What you will need:
See the table below for required and optional items needed to complete this application demo. You will also
need a PG/PC with V-ASSISTANT and TIA Portal installed. V-ASSISTANT is a free software package from
Siemens.
Note In order to commission single-phase SINAMICS V90 units, a minimum V-ASSISTANT

version of 1.03.00 is required.
Item No. Description QTY Application Part Number Optional
1 SINAMICS V90 Drive Unit 1 6SL3210-5FB10-1UA0 -

2 SINAMICS V90 Control Cable (50 Core, MDR Connector) 1 6SL3260-4NA00-1VB0 -
3 USB-to-USB Micro Cable 1 -
4 SINAMICS V90 Motor Power cable 1 6FX3002-5CK01-1AD0 -
5 SINAMICS V90 Motor Feedback cable 1 6FX3002-2CT20-1AD0 -
6 Motor 1 1FL6024-2AF21-1AA1 -
7 S7-1200 PLC 1 6ES7214-1AG40-0XB0 -
8 S7-1200 Signal Board (DI 4x24VDC) 1 6ES7221-3BD30-0XB0 Yes
9 24 VDC Power Supply 1 6EP1332-1SH43 -
10 Estop Button 1 -
11 Homing Switch (Normally Open) 1 Yes
12 Clockwise Limit Switch (Normally Closed) 1 Yes
13 Counter-Clockwise Limit Switch (Normally Closed) 1 Yes
V-ASSISTANT Download (V1.03.00)

Download the free SINAMICS V90 commissioning tool from the Siemens Website.
https://support.industry.siemens.com/cs/document/109481344/sinamics-v-assistant-
commissioning-tool-v1-03-00?dti=0&lc=en-GB
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Introduction
1.2 Aim Summary
Screen Casts
HMKs website contains information on our products and services, as well as links to
product documentation. The website also has enquiry forms and a live chat tool.
http://www.hmkdirect.com/products/drives/sinamics-v/sinamics-v90/
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Application Wiring
2.1 Application Wiring Diagram
Application Wiring 2
2.1 Application Wiring Diagram
Figure 1 - Application Wiring Diagram
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Application Wiring
2.2 E-Stop Wiring for on-board V90 STO
Note If the signal board is to be used then please refer instead to the wiring diagram in Appendix
A0.
2.2 E-Stop Wiring for On-board SINAMICS V90 STO
If you wish to wire your estop to perform a safe torque off (STO), rather than an OFF3/fast-ramp stop (as per
this application demo) then you will need to wire +24VDC to the EMGS input of the SINAMICS V90, and wire
your estop directly to the STO interface of the SINAMICS V90, as shown below.
Interface Signal Name Description
STO 1 Safe torque off channel 1

STO + Specific power supply for safe torque off
STO 2 Safe torque off channel 2
+24 V Power supply, 24 VDC
M Power supply, 0 VDC
Maximum conductor cross-section: 1.5mm2
Figure 2 - SINAMICS V90 E-Stop STO Wiring
Note The safe torque off (STO) function can stop a motor using safety relays without involving
any upper level control. It is disabled in the factory configuration by short-circuiting the STO
terminals. The safety function of the servo drive is SIL 2 (EN61800-5-2). Connect the STO
terminals as the actual requirements.
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Application Wiring
2.2 E-Stop Wiring for on-board V90 STO
Further Information
The V-ASSISTANT Manual contains more detailed information about the V-
ASSISTANT software and the commissioning of a SINAMICS V90 drive. Download
V-ASSISTANT at:
https://support.industry.siemens.com/cs/gb/en/view/109480674
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Drive Configuration
3.1 Inserting the Drive
Drive Configuration 3
3.1 Inserting the Drive
To start, attach the SINAMICS V90 drive to the PG/PC using a mini USB cable, and open V Assistant. The
following window will appear (it may take a few seconds to recognise the drive). Select the drive form the
online list, and select OK.
Figure 3 - Insert Drive
Use the button highlighted below to open the motor selection window. Select the motor based on the part
number.
Figure 4 - Select Motor
Once, the motor has been selected, set the control mode to Pulse Train Input (PTI) from the drop down box:
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Drive Configuration
3.2 Configuring the Drive
Figure 5 - Select Control Mode
Setting the Pulses per Revolution (PPR)
The drive needs to be told how many pulses it will receive to perform one revolution of the motor shaft. This
value needs to be scaled based on the maximum speed, and the maximum pulse frequency the PLC can
output:
60
=

Where nmax is the maximum speed of the motor, or mechanics in rpm and fmax is the maximum pulse frequency
available from the selected PTO output (see Appendix A1.1). E.g. for a max speed of 5000 rpm, with a
maximum pulse frequency of 100KHz, the ppr = 1200.
Once calculated, this value needs to be entered into p29011, which is accessible via the Set electronic gear
ratio sub-tab, under the Parameterize tab.
Figure 6 - Set Motor PPR
Signal Selection
Ensured that the Signal form selection is set to Pulse + Direction Positive, and that the Signal level
selection is set to 24V single end. Both can be found in sub-tab Set parameter setpoint, under tab
Parameterize.
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Drive Configuration
Figure 7 - SINAMICS V90 Signal Selection
Assigning the Digital Inputs
To assign DI, select the cell located in the column of the required DI and the row of the required parameter,
and select Assign from the drop-down list. To remove assignments, select the existing assignment and
select Cancel form the drop-down list.
As default, a number of DI assignments are set which are not of use in this example. Make the following
assignments in the Configure inputs/outputs sub-tab, under the parameterize tab:
Figure 8 - Assign Digital Inputs
CWL and CCWL (clockwise and counter-clockwise limits) are the inputs for the drive hardware limits. For
this example, we are going to wire the CW and CCW hardware limits to the PLC and link these to the
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Drive Configuration
technology object for the axis. The benefit of this method over wiring directly to the SINAMICS V90 inputs is
that this will allow the PLC program to see the state of the hardware limits, and react to them accordingly.
Ensure to tick the checkboxes for CWL and CCWL in the Set to 1 column. This tells the SINAMICS V90
that the drive hardware limits are always in the healthy state.
Use the table in the following section to relate DI number to the associated pin of the 50-pin MDR connector
(X8 Interface).
Assigning the Digital Outputs
The DO are assigned in the same fashion as the DI. The default DO assignments are suitable for use in this
example. Please ensure that the digital outputs match below:
Figure 9 - Assign Digital Outputs
Use the following table to relate DO number to the associated pin of the 50-pin MDR connector (X8 Interface).
DI X8 Pin Description DO X8 Pin Description
DI 1 5 Digital Input 1 DO 1 30 Digital Output 1

DI 7 11 Digital Input 7
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Drive Configuration
Jog the Motor
Once the above steps are complete, it will be possible to jog the drive using the control panel on the select
drive screen. Select the Servo on button to enable the drive, this will open a dialogue box which requires
the user aknolwegement before the drive will become enabled. A speed can then be entered, and the motor
can be run using the forward and reverse buttons.
Note At this point it is assumed that the SINAMICS V90 drive has an AC supply, the safety inputs
are healthy, and that it is safe to move the axis.
Figure 10 - Jog Motor
Save Parameters to ROM
All changes that are made whilst online to the drive will be saved in the drive units RAM (volatile-memory).
This means that these changes will be lost if the drive loses power. In order to save the changes made to
the drive, you will need to perform the Save Parameters to ROM function in order to save the parameters to
the non-volatile memory in the drive. Do this by selecting Tools form the menu bar, and clicking on Save
Parameters to ROM, alternatively, you can click the appropriate button from the toolbar .
If the project was configured offline, the new parameter set will need to be downloaded to the drive. To do
this, connect the drive to the PG/PC via USB, and select from the tool bar to go online. V ASSISTANT
will then scan the parameters currently in the drive and compare them to what is in the project and provide
the user with a list of differences:
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Drive Configuration
3.3 Tuning the Drive
Select PC to drive to copy the parameter set to the drive. Once this is complete, perform a save
parameters to ROM as described above.
Optimizing the Drive
The SINAMICS V90 supplies two auto-tuning modes: one-button auto tuning and real-time auto tuning. The
auto tuning function can optimize control parameters with ratio of machine load moment of inertia (p29022)
and set suitable current filter parameters to suppress the machine resonance automatically. You can change
the dynamic performance of the system by setting different dynamic factors.
The tuning section is found in the Optimize Drive section of the Commission tab within V-ASSISTANT.
Note
For more tuning methods including the one-button auto-tuning, see appendix A4.
Real-Time Auto-Tuning
Real-time auto tuning estimates the machine load moment of inertia automatically while the drive is running
with the host controller command. After enabling the servo on (SON), the real-time auto tuning function stays
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Drive Configuration
effective for the servo drive. If you do not need to estimate the load moment of inertia continuously, you can
disable the function when the system performance is acceptable.
Note Under operating conditions that impose sudden disturbance torque during
acceleration/deceleration or on a machine that its rigidity is poor, auto tuning may not
function properly, either. In such cases, use one-button auto tuning or manual tuning to
optimize the drive.
Pre-conditions for Real-Time Auto-Tuning
The drive must be under the control of the host controller.

The machine actual load moment of inertia is different when the machine moves to the different
positions.
Make sure that the motor has multiple accelerations and decelerations. Step command is
recommended.
Machine resonance frequency changes when the machine is running.
Implement Real-Time Auto-Tuning
1. Select the dynamic factor in the following area:
Figure 11 - Set Tuning Dynamic Factor
2. Click on the following button to configure the parameters for the real-time auto tuning function.
Selecting the Dynamic Factor

Refer to the Real-Time Auto Tuning chapter 9.4 (p256) from SINAMICS V90, SIMOTICS
S-1FL6 Operating Instructions for more detailed information.
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Drive Configuration
3. Set the parameters in the window below:
Figure 12 - Set Tuning Advanced Settings
Set the ratio of machine load moment of inertia (p29022) with either of the following methods:
- Enter it manually if the ratio is known.

- Use the ratio of machine load moment of inertia estimated by the one-button auto tuning
function directly.
- Estimate the ratio with the real-time auto-tuning (p29024.2 = 1). When you have executed
the tuning many times and have obtained a stable value of p29022, you can stop
estimating it by setting p29024.2 = 0.
4. Click the following button to enable the tuning function after the parameters have been set.
5. Perform the servo on for the drive via the host controller to start the tuning.
For example, you can use the following method to run the motor:
Implement servo on for the drive with the Jog function in V-ASSISTANT.
Enter a speed for the motor and press and hold a direction button to run the motor.
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Drive Configuration
Figure 13 - Jog Motor from Control Panel
6. To achieve the desired system performance, you can change the dynamic factors or related
configuration parameters during tuning.
7. If the drive performance is acceptable, disable the tuning function by servo off and set p29021 = 0.
8. Copy the tuned parameters from RAM to ROM to save them (see section 3.1, Save parameters to
ROM).
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Controller Configuration
4.1 S7-1200 Configuration
Controller Configuration 4
Adding a new device
When a new project is first created, TIA portal will change to the Devices and networks tab of the portal
view. New devices can be added by clicking on Add new device, selecting the type of device (Controller,
HMI, PC system or Drive) and then traversing down the product tree until the exact part number of the device
is found. The firmware version of the device must match that of the actual hardware.
Note New part numbers and firmware versions may require the latest version of TIA portal. If the
hardware that you have is not available from the list, then TIA portal may need to be
updated.
Figure 14 - Add New Device
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The name of the new device can then be modified and the device added to the project with the Add
button.
Devices can also be added in this way from the Project View by double clicking Add new device in
the project tree.
Alternatively devices can be added by navigating to the Devices & networks view and dragging the
relevant part number from the Hardware catalogue to empty space in the Network view.
Figure 15 - Adding a Drive via Hardware Catalog
Setting the IP address of a device
Double clicking on an object in the Devices & networks view opens the object in the Device view.
The IP address and subnet mask can then be set for each interface by highlighting the interface by clicking
on it and editing its address in the Properties view, as shown below. Scroll down when in this section to
set the Profinet name of the device.
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Figure 16 - Set Device IP Address
Adding Expansion Modules to a Device
To represent your PLCs physical hardware configuration in the programming environment modules must
be dragged from the Hardware catalog in the Device view and dropped in the relevant slot. Ensure
that the Filter checkbox is ticked to filter the catalog by available hardware only.
Figure 17 - Add PLC Modules
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Adding a Signal Board (Optional)
The digital outputs of the SINAMICS V90 unit are sinking outputs, which means that the digital inputs of the
S7-1200 PLC are required to be wired as sourcing inputs. This will then require that all digital inputs to the
PLC (not just those from the SINAMICS V90) be wired as sourcing inputs. The DI 4x24VDC signal board
unit for the S7-1200 PLC (6ES7 221-3BD30-0XB0) is configured, by default, to accept sourcing inputs.
Adding this signal board to the PLC gives the added benefit of accepting the SINAMICS V90 sinking outputs,
without any wiring changes, whilst allowing all other digital inputs to the PLC to be wired as standard (sinking)
inputs.
To insert a signal board, select the correct device (based on the part number) form the Hardware Catalog,
and drag into the centre of the PLC:
Figure 18 - Insert Signal Board
Once the signal board has been inserted into the project, the start address of the inputs needs to be found
for use in the technology object set-up. This can be found by double clicking the inserted signal board in the
centre of the PLC, and selecting IO Addresses in the Properties tab, as highlighted below. This is the start
address for the inputs, so for a 4 input signal board, the input addresses will in this case be I4.0 - I4.3.
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Figure 19 - Signal Board Start Address
Note
If using the signal board option, please refer to the wiring diagram found in Appendix A0.
Download PLC Configuration
In order to save the PLC configuration into the device, you will need to perform a download to the PLC. To
download to the PLC, ensure that the PLC is highlighted in the project tree and click the button in the
toolbar. You will need to be offline to the PLC in order to perform a complete download.
The first time you download to the PLC you will need to select the device you wish to download to. Begin
by clicking the Start Search button in the window that opens, this will scan the configured interface for
Siemens PLC devices. Ensure that your desired PLC is highlighted in the Compatible devices in subnet
table then click the Load button.
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Drive Control Strategy
Drive Control Strategy 5

Introduction to Technology Objects
Technology objects represent each of the real objects (e.g. a drive) in the controller. You can call the functions
of the technology objects by means of Motion Control instructions in your user program. The technology
objects provide open and closed-loop control of the movement of the real objects, and report status
information (e.g. the current position). The configuration of the technology objects reflects the properties of
the real object. The configuration data are stored in a technology data block.
Introduction to Positioning Axis Technology Objects
The positioning axis technology object calculates position setpoints, taking account of the specified dynamics,
and outputs corresponding speed control setpoints to the drive. All movements of the positioning axis occur
under position control. For absolute positioning, the physical position must be known to the positioning axis
technology object.
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Add a Positioning Axis Technology Object to the Project
Select Add new object from under the Technology objects folder of the Project Tree.
Figure 20 - Add a Technology Object
Select the Motion Control area in the window that opens, then select TO_PositioningAxis. Give the object a
more meaningful name if necessary. Click OK to accept the new positioning axis object into the project.
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Configure the Technology Object
To setup the positioning axis object, go to the Configuration section located under the new technology object
from the Project Tree. From here you can use the graphical UI windows to set the necessary technology
object settings. Ensure that you have the Function view active, and that you are not online to the PLC.
Figure 21 - Configure Technology Object
Basic Parameters - General
Axis Name
Set the name of the axis or technology object.
Drive
Switch between the 3 control methods: Pulse Train Output (PTO) Analogue drive connection, and
PROFIdrive. Changing this will affect the default values and units used in some of the other settings.
For the purpose of this example, set the control method to PTO.
Units of measurement
Set the default position and velocity units for the axis.
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Basic Parameters - Drive
Select pulse generator
Select the pulse output to be used by the PLC to send pulses to the drive. For this application, select
Pulse_1.
Signal type
Select the pulse train type. For this application, select pulse A and direction B
Pulse output
This is auto set based on the output assignment set in the device configuration, if this is not set up,
select the device configuration button. This will take you to the device view and display the properties
of the pulse output. Ensure that enable is ticked under General, and then select Hardware outputs
under properties and assign the pulse and direction output bits to Q0.0 and Q0.1 respectively. Pulses
2, 3 and 4 need to be inactive, ensure that enable is not ticked under General.
Direction output
Again, this is auto set as above. Ensure the Activate direction output box is ticked.
Select enable output
This is used to select the output used to send the enable signal form the PLC to the drive. For this
example, set this to Q0.2
Select ready input
This is used to set the input for the ready signal from the Drive to the PLC. For this application, set
this to I0.1 for PLC only operation. For operation with a signal board, set this to I.1, where = the
start address of the signal board.
Extended Parameters - Mechanics
Pulses per motor revolution
This allows the user to configure the number of pulses the PLC needs to send to the SINAMICS V90
for one revolution of the motor. Set this to the same value as parameter p29011.
Load movement per revolution
This is the distance that the load will travel per revolution of the motor, e.g. for a ball screw, this will
be the pitch of the screw.
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Permitted direction of rotation
Allows limitation of the rotational direction if necessary.
Extended Parameters Position limits
Hardware and Software Limit Switches
The check box activates the function of the negative and positive hardware limit switches. With
enabled hardware limit switches, the drive is disabled when the hardware limit switch is approached
or overshot. The drive brakes with the braking ramp configured in the PLC.
Exception: If a hardware limit switch is overshot during an active home position approach with
activated direction reversal at the hardware limit switch, then the axis stops with the configured
maximum deceleration, and continues the home position approach in the opposite direction.
Negative / positive HW limit switch input: In these fields, select the PLC tags of the digital input for
the negative and positive HW limit switches.
Signal level selection: Select the triggering signal level ("Lower level" / "Upper level") of the hardware
limit switch. At "Lower level", the input signal is FALSE after the axis has reached or passed the
hardware limit switch. At "Upper level", the input signal is TRUE after the axis has reached or passed
the hardware limit switch.
Note Software position limits MUST be enabled in order to use the MC_CommandTable function
block.
For this application demo, the inputs I0.3 and I0.4 were used for the negative and positive hardware
limits. If you are using the signal board, then instead use inputs I0.1 and I0.2.
Extended Parameters Dynamics
General
Configure the maximum move profile dynamics of the axis. Set the maximum velocity of the axis and
also the maximum acceleration and deceleration. For acceleration/deceleration you can either enter
a maximum value or you can specify the ramp time to/from maximum speed, the other value is
automatically calculated. The same applies for the maximum jerk setting; you can either enter the
maximum jerk value or enter the profile smoothing time. Jerk is enabled when its maximum value is
set greater than zero.
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Emergency Stop
You may set either the maximum emergency stop deceleration value, or you may set the emergency
stop ramp-down time from the maximum velocity set in the Dynamic Limits section.
Extended Parameters Homing
Active
In active homing mode, the Motion Control instruction "MC_Home" performs the configured home
position approach. Active traversing motions are aborted. When the reference mark is detected, the
position of the axis is set according to the configuration.
Digital input homing switch: select the digital input to use for the homing switch.
Homing direction: select the default homing direction of traversal.
Approach velocity: set the velocity at which the axis moves until sensing the zero mark or homing
sensor.
Homing velocity: set the velocity at which the axis is homed after sensing the zero mark or homing
sensor.
Home position offset: enter the distance between the homing/zero mark and the home position.
Home position: the position to which the encoder is set once homing procedure is complete.
Passive
During passive homing, the motion control instruction "MC_Home" does not carry out any homing
motion. The traversing motion required for this step must be implemented by the user via other motion
control instructions. Active traversing motions are not aborted upon start of passive homing. When
the reference mark is detected, the axis is set according to the configuration.
Digital input homing switch: select the digital input to use for the homing switch.
Homing direction: select the default homing direction of traversal.
Home position: the position to which the encoder is set once homing procedure is complete.
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Position Monitoring Tolerance Time
Positioning window: configure the size of the positioning window between setpoint and actual position.
If the axis is located within this window, then the position is considered to be "reached".
Tolerance time: configure the tolerance time, in which the position value must reach the positioning
window.
Commissioning a Technology Object
Navigate to the Commissioning section located under the Technology Object in the Project Tree.
Axis Control Panel
The axis control panel can be used to manually control the axis. This is useful for initially testing that
the axis has been configured correctly, can be moved, and that the position scaling is correct.
Activating master control on this panel removes all drive control from the PLC. The control panel
allows simple speed, position or manual control and also delivers some simple axis diagnostics and
actual values.
Figure 22 - Technology Object Control Panel
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Diagnosing a Technology Object
Navigate to the Diagnostics section located under the Technology Object in the Project Tree.
Status and Error bits
This screen gives indicators to show common axis status, warning and faults. Clicking the green
arrows next to an indicator will take you to the respective configuration parameters that affect this
status.
Motion Status
Useful for easy viewing of the target and actual position, velocity and accelerations of an axis.
The S7-1200 can control up to 4 axes using this method, dependant on the CPU and number of pulse train
outputs, see AX.X from the appendix for more information. To add further axes, create additional
technology objects for each axis, ensuring to set unique addresses for each pulse train output and IO.
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5.2 Example Program
5.2 Example Program
Adding a Motion Control Function Block to the Project
Whilst in an open program block window, browse to the Technology section of the Instructions window. Open
the Motion Control folder and drag and drop the appropriate block into the desired section of the program
block. A window will then open asking you to specify an instance for this function block. Give the instance
data block a name and click OK. The block is now added to the project.
For further information on any motion control function block, including an explanation of all input/output
parameters can be found in the TIA help documentation within the TIA software, simply highlight any of the
MC function blocks and press the F1 key. A detailed description of the blocks can also be found in Appendix
A3.2.
Figure 23 - Add Motion Control Function Block
Motion control function block input parameters without a default value (e.g. Axis), must be supplied.
After specifying the technology object in the "Axis" parameter, the following buttons are available to you:
To open the configuration of the technology object, click on the toolbox icon.
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5.2 Example Program
To open the diagnostics of the technology object, click on the stethoscope icon.
Reset and Enable the Drive
Pull in MC_Power and MC_Reset function blocks. Assign the Technology object to the Axis input. An example
is given below:
Figure 24 - Reset and Enable the Drive
You can now use MC_Reset_DB.Execute to reset any drive faults within the PLC, where MC_Reset_DB is
the name given to your instance data block of your MC_Reset function block.
You can now use MC_Power_DB.Enable to enable and disable the drive in your control program.
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5.2 Example Program
Jog the Axis
To jog the axis, add a MC_MoveJog function block into the program. Again, assign the technology object to
the Axis input:
Figure 25 - Jog Axis
Provided the drive is enabled, you can now use the MC_MoveJog_DB.JogForward and
MC_MoveJog_DB.JogBackward commands to jog the axis forwards and backwards respectively.
You can also use the MC_MoveJog_DB.Velocity parameter to set the jogging speed via your control program
or watch table.
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5.2 Example Program
Move the Axis at Velocity
To run the axis at a set velocity, insert a MC_MoveVelocity function block into the ladder program. Again,
assign the technology object to the Axis input:
Figure 26 Move Axis at Velocity
A rising edge on the MC_MoveVelocity_DB.Execute command can now be used to trigger the axis to run at
the velocity specified by the MC_MoveVelocity_DB.Velocity parameter.
The MC_MoveVelocity_DB.Direction command can be used to set the motor rotation direction.
Note Setting the MC_MoveVelocity_DB.Execute parameter to FALSE will NOT stop the axis.
The MC_Halt block or another MC function block must be used to stop the axis.
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5.2 Example Program
Perform Relative Position Move
To perform relative position moves, insert a MC_MoveRelative function block into the ladder program. Again,
assign the technology object to the Axis input:
Figure 27 - Relative Position Move
A rising edge on the MC_MoveRelative_DB.Execute command can now be used to trigger a relative
position move on the axis. The MC_MoveRelative_DB.Distance and MC_MoveRelative_DB.Velocity
commands can be used to set the traversing distance and speed respectively.
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5.2 Example Program
Home Axis and Perform an Absolute Position Move
To perform an absolute position move, the axis must first be homed. Insert both a MC_Home and
MC_MoveAbsolute block and assign the technology object to the Axis input:
Figure 28 - Home Axis and Perform Absolute Position Move
To Home the axis, the mode of operation must first be selected. For the homing procedure with an external
zero mark (such as a homing sensor) use MC_Home_DB.Mode = 3. To set the current position of the axis
as zero, use MC_Home_DB.Mode = 0 (this will instantly home with axis without turning the motor shaft). You
can then use the MC_Home_DB.Execute command to trigger the homing of the axis.
A rising edge on the MC_MoveAbsolute_DB.Execute command can now be used to trigger an absolute
position move on the axis. The MC_MoveAbsolute_DB.Position and MC_MoveRelative_DB.Velocity
commands can be used to set the traversing position and speed respectively.
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5.2 Example Program
Stop the Axis
In order to stop the axis whilst another motion command is executing, you will need to insert a MC_Halt
function block into the ladder program.
Figure 29 Stop the Axis
You can now use the MC_Halt_DB.Execute command to stop the axis from your control program or from a
watch table.
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5.2 Example Program
Change the Axis Dynamics
In order to alter the configured acceleration and deceleration ramps for the axis, you will need to insert an
MC_ChangeDynamic function block.
Figure 30 Change Axis Dynamics
You can now use the inputs of this function block to configure the axis ramp up/down, jerk settings and
emergency stop ramp settings. The MC_ChangeDynamic_DB.Execute command is used to transfer the
new values to the drive.
Further Information
See the Siemens documentation on technology object motion control for further info:
https://support.industry.siemens.com/cs/document/108577079/simatic-step-7-s7-1200-
motion-control-v13-sp1?dti=0&lc=en-GB
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5.2 Example Program
Control the Axis from a Watch Table
Once the ladder program is in place, a watch table can be used to actively modify variables within the PLC.
To add a watch table to the project, navigate to the Watch and Force Tables folder under the PLC in the
project tree in TIA, then double click the Add new watch table.
Now enter all the parameters that you wish to modify into the Name column of the table.
Figure 31 - Watch Table
In order to change the parameter values, you will need to be online to the PLC. To do this, ensure that that
the PLC is highlighted in the project tree and click the button.
For Boolean parameters, right-click anywhere on the row and select Modify > Modify to 0 or Modify to 1.
For non-Boolean parameters, enter the desired value into the Modify value column, then right click on the
row and select Modify > Modify now.
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Appendix
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A0 Application Wiring with Signal Board
Application Wiring with Signal Board A0
Figure 32 Application Wiring Diagram with Signal Board

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A1 Hardware Overview
A1.1 S7-1200 PLC Hardware Overview
Hardware Overview A1
Introduction
The SIMATIC S7-1200 controller is designed as a "compact" controller for smaller to mid-size automation
tasks. Additional signal modules and communication modules can be added depending on the size and
complexity of the automation task. The S7-1200 controller provides the flexibility and power to control a wide
variety of devices. The compact design, flexible configuration, and powerful instruction-set combine to make
the S7-1200 a perfect solution for controlling a wide variety of applications.
The CPU combines a microprocessor, an integrated power supply, input and output circuits, built-in
PROFINET, high-speed motion control I/O, and on-board analog inputs in a compact DIN rail mounted
housing.
Figure 33 - S7-1200 CPU Overview
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CPUs
The table below gives an overview of the current CPU models available along with their specifications. The
CPUs are available with either AC or DC supply, and relay or digital outputs depending on the part number
ordered.
Feature CPU 1211C CPU1212C CPU 1214C CPU 1215C CPU 1217C
Physical Size (mm) 90 x 100 x 75 110 x 100 x 75 130 x 100 x 75 150 x 100 x 75
Work 50 Kb 75 Kb 100 Kb 125 Kb 150 Kb

Memory
Load 1 Mb 4 Mb
Digital In 6 8 14
Digital Out 4 6 10
Local IO
Analog In 2 2 2 2 2
Analog Out - - 2 2 2
Signal Module Expansion None 2 8
Figure 34 - CPU Specification Overview
Below is a table outlining the maximum pulse frequencies for all CPU models of the SINAMICS S7-1200.
Figure 35 - CPU Maximum Pulse Frequency
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Expansion
The S7-1200 family provides a variety of modules and plug-in boards for expanding the capabilities of the
CPU with additional I/O or other communication protocols.
Figure 36 - CPU Expansion Overview
Installation of the boards and modules is carried out as follows;
Figure 37 - Installing an option board
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Figure 38 - Installing a signal module
The following types of boards and modules can be installed;
Digital Input
Digital Output
Relay Output
Combination Input/Output
Analog Input
Analog Output
Combination Analog Input/Output
Thermocouple and RTD
GPRS (not approved for maritime applications)
Profibus Communication (Master and Slave)
ASi
RS232, RS422 and RS485
CANopen
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SD Memory Card
An SD card is not necessary for the S7-1200 CPU to function, but it can be used either as a transfer card or
as a program card. Any program that you copy to the memory card contains all of the code blocks and data
blocks, any technology objects, and the device configuration. A copied program does not contain force
values.
Note The CPU supports only the pre-formatted SIMATIC memory cards. Before you copy any
program to the formatted memory card, delete any previously saved program from the
memory card.
Use a transfer card to copy a program to the internal load memory of the CPU without using STEP 7
After you insert the transfer card, the CPU first erases the user program and any force values from the internal
load memory, and then copies the program from the transfer card to the internal load memory. When the
transfer process is complete, you must remove the transfer card.
You can use an empty transfer card to access a password-protected CPU when the password has been lost
or forgotten. Inserting the empty transfer card deletes the password-protected program in the internal load
memory of the CPU. You can then download a new program to the CPU.
Use a program card as external load memory for the CPU
Inserting a program card in the CPU erases all of the CPU internal load memory (the user program and any
force values). The CPU then executes the program in external load memory (the program card). Downloading
to a CPU that has a program card updates only the external load memory (the program card). Because the
internal load memory of the CPU was erased when you inserted the program card, the program card must
remain in the CPU. If you remove the program card, the CPU goes to STOP mode. (The error LED flashes
to indicate that program card has been removed.)
You also use a memory card when downloading firmware updates.
Warning
Verify that the CPU is not running a process before inserting the memory card.
Do not insert V3.0 program transfer cards into S7-1200 V4.0 CPUs.
LED Display
AS well as individual LEDs to indicate the status of the local IO on the CPU, the S7-1200 controller also has
three integrated LEDs to provide operational status of the module or IO.
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They are RUN/STOP, ERROR and MAINT.
The module status can be determined from the LEDs using the table below.
Figure 39 - LED Status
Further Information
The S7-1200 Easy book is an introduction to the S7-1200 PLC and can be found here:
https://support.industry.siemens.com/cs/gb/en/view/39710145/73836356363
Further Information
The S7-1200 System Manual contains detailed information and can be found here:
https://support.industry.siemens.com/cs/gb/en/view/107623221/73837491339
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Further Information
See the Siemens documentation on technology object motion control for further info:
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A1.2 SINAMICS V90 Hardware Overview
Introduction
The SINAMICS V90 is designed to meet general purpose servo drive applications. It is easy to commission
the SINAMICS V90 system - essentially just plug & play. Further, it has optimized servo performance, can
be quickly integrated into SIMATIC PLC control systems and has a high degree of reliability. A seamless
drive system is created by combining SINAMICS V90 servo drive with the SIMOTICS S-1FL6 servomotor.
System Connection Diagram
Figure 40 - System Connection Diagram
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Connecting the cable shields with the shielding plate
To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to
connect the cable shields. See the following example for steps to connect cable shields with the shielding
plate:
Figure 41 - SINAMICS V90 Cable Shielding
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Standard Wiring for (PTI) Pulse Train Input
Figure 42 - SINAMICS V90 Default Wiring Schematic
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Control/Status interface - X8
Pin assignment for the 50-pin MDR connector:
Figure 43 - SINAMICS V90 X8 Interface
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Figure 44 - SINAMICS V90 X8 Interface
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Overview of the Integrated BOP
The SINAMICS V90 servo drive has been designed with a Basic Operator Panel (BOP) located on the front
of the servo drive:
Figure 45 - SINAMICS V90 Integrated Display
Button Functions:
Figure 46 - SINAMICS V90 Button Controls
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Figure 47 - SINAMICS V90 Button Controls
Operating instructions
Refer to the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions for more
detailed information.
Further Information
The SINAMICS V90 Getting Started Manual contains detailed information and can
be found here:
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A2 Overview of the Programming Environment
A2.1 Overview of TIA Portal
Overview of the Programming Environment A2

Introduction
This document provides an overview of the TIA (Totally Integrated Automation) Portal programming
environment. It covers the basic user interfaces available with TIA Portal, and some of the more frequently
used functions. It does not however cover all of the functions available with TIA Portal. More information
can be found in the SIMATIC STEP 7 Professional System Manual, of which several pages have been taken
and used this document. See link below.
Further Information
SIEMENS SIMATIC STEP 7 Professional V13.0 System Manual. This document is nearly
200MB in size.
https://support.industry.siemens.com/cs/attachments/89515142/STEP_7_Professional_V13_enUS
_en-US.pdf
What is TIA Portal?
TIA Portal is an integrated software programming environment. It is used for configuring, programming and
commissioning an entire automation system, including multiple related automation devices such as PLCs,
HMIs and Drives in one integrated project. It is a progression from SIMATIC MANAGER or STEP 7 Classic,
performing similar tasks but in a more user friendly and integrated fashion.
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Opening, creating and closing projects
Open TIA Portal, the Start screen is where a project can be opened, created or closed.
Figure 48 - TIA Start Screen
Recently used projects are automatically displayed, but the user can Browse to other folders to select a
project stored there instead.
Click on Create new project to bring up a dialog where the project name and storage location are entered,
or select a recently used project and click Open.
Close project on the start screen is one option for closing projects in TIA.
Project view changes the look and functionality of the user interface, and it is the HMK recommended
view for working on projects.
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Project View
Project view gives access to much more information and functionality on all devices in the project at one time.
The following picture is taken from the SIEMENS SIMATIC STEP 7 Professional V13.0 System Manual.
Figure 49 - Project view
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Add new device
In the Project tree area click on Add new device.
A dialog appears which allows a choice of Controllers, HMI, PC Systems or Drives.
Figure 50 - Add new device
Currently the only drives which can be selected here are G110M and G120 (including C, D and P). Other
drives and automation devices must be added using the Hardware catalog, detailed in the Devices &
networks section.
Locate the device you wish to add, make sure the article number and version number are correct!
Add as many new devices as you need in your project.
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Accessible devices
Select the highlighted icon below to open the accessible nodes dialog.
Figure 51 - Accessible devices
With this dialog it is possible to view all accessible devices that are connected to, or on the same network as
the programmer. Select the PG/PC interface (the connection interface you expect to see devices connected
to) and click Start search. The list will populate with all the devices the programmer can see. It is
possible to highlight a device in the list and press Flash LED, this will flash the LED on the actual device,
this can be useful if you have multiple devices of the same type connected. Clicking the Show button
will open the selected object in the Online access folder of the Project tree. From here such functions as re-
assigning the IP address, viewing diagnostics, resetting to factory defaults and firmware updates are possible.
See Online & diagnostics section later in this document.
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Devices & networks
Double click on Devices & networks in the Project tree to open the following work area.
Figure 52 Devices & Networks
This work area is used to configure properties and connections of networks and devices, as well as adding
new devices. By default, the Hardware catalog will open in the Task cards area. The Hardware catalog
is where other devices can be added into the project by dragging and dropping in to the work area. Double
click on a device in the work area to open the Device view. The properties tab at the bottom of the
screen will display and allow editing of selected object properties, and the Hardware catalog is automatically
filtered to display sub-modules that can be dragged into the work area or Device overview area, depending
on the device and sub module.
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Global libraries
Figure 53 - Global libraries
Global libraries are available from the Libraries task card. They contain objects and functions that can be
dragged and dropped into various elements of the user project. Certain libraries are installed as part of the
TIA environment, but other libraries can be downloaded from the web, or even be created by the user to
contain custom user-created elements that are then available to be used in later projects, or exported for
other users to access.
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Download and go online
Select the device in the Project tree. If you are currently offline the options to Download (arrow down)
and Go online and available. If you are currently online the options to Upload (arrow up) or Go
offline are available.
Figure 54 - Download/upload
To download a hardware configuration to a PLC, you must be offline first.
A download is defined as FROM the programmer TO the device, and an upload is FROM the device TO the
programmer.
The first time you download to a device you will be presented with the dialog below. Use the drop down
boxes to select your PG/PC interface (the method you expect to connect to the device with) and click
Search.
If your device appears in the list, select it and click Load to begin the download. If your device does not
appear in the list, check your PG/PC interface settings and physical network connections.
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Figure 55 - First time download
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Online & diagnostics
Once an online connection has been established, the bar at the top of the Work area will become orange,
the bottom right of the TIA portal window will display the connection device and status and the Online tools
card will automatically open, shown on the right of the screenshot below.
Figure 56 - Online diagnostics
Double click on the Online & diagnostics entry under the desired device in the Project tree to open the
work area shown above. This work area gives access to various online functions such as Firmware updates,
time setting etc., and also diagnostic information such as the PLC diagnostic buffer (shown).
While online an automatic online/offline comparison is done, and the results are shown as coloured icons
down the right hand side of the Project tree. The meaning of the icons is shown in the table below, taken
from the SIEMENS SIMATIC STEP 7 Professional V13.0 System Manual.
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Figure 57 - Online/offline comparison
PLC programming
Figure 58 - PLC programming
Commonly used controls for PLC programming in the Project tree include Program blocks where blocks
can be created or dragged in from a library. PLC tags where tags are created and organised, PLC
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data types which can be user created or dragged from the library and Watch and force tables which
are useful for monitoring and setting tags in the PLC.
Cross references are available in the Inspector window, cross references are available for blocks as well as
tags and can follow through to other devices in the project, i.e. a tag that is used in the PLC and HMI will
show cross references to both objects.
Programming instructions that are available can be found in the Instruction card, above on the right.
These can be dragged in to the work area.
Clicking on the Glasses will enable online viewing of the work area (if the programmer is connected to
the device). This is very useful for fault finding in programming code.
Archiving and retrieving
Projects can be easily moved, shared, emailed etc. if they are archived. Archiving is creating a zipped file,
the extension of the zipped file is .zap13 for a TIA V13 project or .zap12 for a TIA V12 project.
To open an archived project file, it first needs to be retrieved. Once retrieved it can be opened in the
normal manner as detailed earlier.
Figure 59 - Archiving and retrieving
Highlight the project in the Project tree, and click Project in the Menu bar. Choose from the option of
Archive or Retrieve.
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A2.2 Overview of V-ASSISTANT
Selecting the Working Mode
Figure 60 - Selecting Online Mode
To work in online mode, connect the Drive via USB to the PG/PC. It will appear in the online tab. Select the
drive and select OK to start working.
Figure 61 - Selecting offline Mode
To Work in Offline mode, select one of the options: Create a new project, or open an existing project to
continue previous work. Select OK to start working.
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User Interface Layout
1. Menu bar
2. Toolbar
3. Task navigation
4. Function Mask
5. Alarm Window
Figure 62 - V-ASSISTANT Layout
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Menu bar
The menu bar is located at the top of the SINAMICS V-ASSISTANT window. You can find various commands
and functions for basic operations of SINAMICS V-ASSISTANT.
Toolbar
The toolbar is located below the menu bar and provides direct access to the essential functions of SINAMICS
V-ASSISTANT.
Figure 63 - V-ASSISTANT Toolbar
Task navigation
Task navigation lists the user tasks for users to fulfil. Each task contains different functions which facilitate
users to parameterize all functions of SINAMICS V90 drives and monitor or diagnose the drives.
Function mask
The function mask provides the user interface of each user task for users to implement related functions.
Alarm window
In online mode, the current faults and alarms are displayed in a list with the corresponding type, number and
name. In offline mode, the alarm window is disabled.
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Select Drive Tab
1. Drive Selection
2. Motor Selection
3. Control Mode
4. Jog
Figure 64 - V-ASSISTANT layout
Note When working in online mode, the select drive button will be greyed out.
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Parameterize Tab
Figure 65 - V-ASSISTANT Parameterize Tab
Note Some of the displayed options are not available in all control modes.
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Setting the Electronic Gear Ratio Sub-tab
Figure 66 - Set Electronic Gear Ratio Section
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Set Parameter Setpoint Sub-tab
Figure 67 - Set Parameter Setpoint Section
Signal selection: Allows the user to select the pulse method used.
Signal level selection: Allows the user to select the type of pulse input. Hovering over Wiring shows
a diagram of the pulse input type.
Position Setpoint smoothing time: Allows the user to define the smoothing time constant.
Position reached window: Allows the user to define the positioning window tolerances in Load Units
(LU).
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Configure I/O Sub-tab
Inputs:
Figure 68 - Configure SINAMICS V90 Digital Inputs
Allows the user to assign Digital Inputs. The inputs can also be set permanently high using the tick boxes on
the right hand side.
Outputs:
Figure 69 - Configure SINAMICS V90 Digital Outputs
Allows the user to change the assignment of the outputs, such as the ready signal.
Further Information
The V-ASSISTANT Manual contains more detailed information about the V-
ASSISTANT software and the commissioning of a SINAMICS V90 drive. Download
V-ASSISTANT at:
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A3 Technology Objects
A3.1 Technology Object Data Block
Technology Objects A3
Technology Object Data Block
The technology data block represents the technology object and contains all configuration data, setpoint and
actual values, and status information of the technology object. The technology data block is automatically
created when the technology object is created. In your user program you can access the technology data
block's data.
Evaluate Data Block StatusBits and ErrorBits Structures
Individual status and error information from the "StatusBits" and "ErrorBits" Boolean structures are available
for use in the user program.
Data Block StatusBits Structure
The <TO>.StatusBits structure contains the status information of the technology object.
Tag Description
Activated Axis is activated

Enable Axis is enabled
HomingDone Axis is homed
Done No Motion Control job is active on the axis
Error An error has occurred on the axis
Standstill Axis is at a standstill
PositioningCommand Axis executes a positioning job
VelocityCommand Axis executes a job with velocity specification
HomingCommand Axis executes a homing job
CommandTableActive Command table is being processed
ConstantVelocity Axis traverses with a constant velocity
Accelerating Axis is accelerating
Decelerating Axis is decelerating
ControlPanelActive Manual control mode was enabled in the axis control panel
DriveReady Drive is ready
RestartRequired Restart required
SWLimitMinActive Status of lower software limit switch
SWLimitMaxActive Status of upper software limit switch
HWLimitMinActive Status of lower hardware limit switch
HWLimitMaxActive Status of upper hardware limit switch
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Data Block ErrorBits Structure
The <TO>.ErrorBits structure contains the error information of the technology object.
Tag Description
SystemFault Internal system error

ConfigFault Faulty configuration of axis
DriveFault Drive has displayed an error due to failure of drive-ready signal
SWLimit Software limit switch approached or overtraveled
HWLimit Hardware limit switch approached or overtraveled
DirectionFault Invalid movement direction
HWUsed Another axis is using the same PTO (Pulse Train Output) and is enabled
SensorFault Error in encoder system
CommunicationFault Communication with a connected device is faulty
FollowingError The maximum permitted following error has been exceeded
PositioningFault The positioning axis was not positioned correctly at the end of a positioning motion
Using the MC_Reset Function Block
All technology alarms that can be acknowledged in the user program are acknowledged with the Motion
Control instruction "MC_Reset". Acknowledgment also resets the "Error" and "Warning" bits in the
appropriate technology data block.
Technology objects are reinitialized (restarted) using the Motion Control instruction "MC_Reset" with "Restart"
= TRUE. Upon restart of the technology object, the new configuration data are applied in the technology data
block.
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A3.2 Technology Object Function Blocks
Using the MC_Power Function Block
The Motion Control instruction "MC_Power" is used to enable and disable technology objects.
Figure 70 - MC_Power Function Block
An axis is enabled and then disabled again. When the drive has signaled "Drive ready" back to the CPU, the successful

enable can be read out via "Status_1".
Following an axis enable, an error has occurred that caused the axis to be disabled. The error is eliminated and

acknowledged with "MC_Reset". The axis is then enabled again.
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Using the MC_Home Function Block
With the Motion Control instruction "MC_Home", you create the relationship between the position in the
technology object and the mechanical position. The position value in the technology object is assigned to a
homing mark at the same time. This homing mark represents a known mechanical position.
The homing process occurs according to the mode selected with the "Mode" parameter, and the configuration
under "Technology object > Configuration > Extended parameters > Homing".
The homing method to be used should be selected depending on the encoder type used on the axis.
The following table describes each of the homing modes:
Mode Direction
Direct homing (absolute)

0
New axis position is the position value of parameter "Position".
Direct homing (relative)
1
New axis position is the current axis position + position value of parameter "Position".
Passive homing
2 Homing according to the axis configuration. Following homing, the value of parameter "Position" is set as the new axis
position.
Active homing
3 Homing procedure in accordance with the axis configuration. Following homing, the value of parameter "Position" is
set as the new axis position.
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Using the MC_MoveJog Function Block
The MC_MoveJog function is used to manually jog the axis in either direction.
Figure 71 - MC_MoveJog Function Block
The axis is moved in the positive direction in jog mode via "Jog_F". When the target velocity 50.0 is reached, this is

signaled via "InVel_1". After "Jog_F" is reset, the axis is braked to a standstill.
The axis is moved in the negative direction in jog mode via "Jog_B". When the target velocity -50.0 is reached, this is
signaled via "InVel_1".

When "Jog_B" is set, the value at parameter "Velocity" changes to 25.0. "InVel_1" is reset and the axis is braked. When the
new target velocity -25.0 is reached, this is signaled via "InVel_1". After "Jog_B" is reset, the axis is braked to a standstill.
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Using the MC_MoveVelocity Function Block
With the Motion Control instruction "MC_MoveVelocity", you can move an axis with a constant velocity.
Figure 72 - MC_MoveVelocity Function Block
An active MC_MoveVelocity command signals via "InVel_1" that its target velocity has been reached. It is then aborted by
another MC_MoveVelocity command. The abort is signaled via "Abort_1". When the new target velocity 15.0 is reached,
this is signaled via "InVel_2". The axis then continues moving at the new constant velocity.
An active MC_MoveVelocity command is aborted by another MC_MoveVelocity command prior to reaching its target
velocity. The abort is signaled via "Abort_1". When the new target velocity 15.0 is reached, this is signaled via "InVel_2".
The axis then continues moving at the new constant velocity.
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Using the MC_MoveRelative Function Block
This function block is used to move an axis relative to the position that exists at the beginning of job
processing. Dynamic behaviour during movement is defined with the parameters "Velocity", "Jerk",
"Acceleration" and "Deceleration".
Figure 73 - MC_MoveRelative Function Block
The axis is moved by an MC_MoveRelative command by the distance ("Distance") 1000.0. When the axis reaches the
target position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveRelative command, with travel

distance 500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis comes to a
standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via "Done_2".
An active MC_MoveRelative command is aborted by another MC_MoveRelative command. The abort is signaled via
"Abort_1". The axis is then moved at the new velocity by the new distance ("Distance") 500.0. When the new target
position is reached, this is signaled via "Done_2".
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Using the MC_MoveAbsolute Function Block
Use this function block to move the axis to an absolute position. Dynamic behaviour during movement is
defined with the parameters "Velocity", "Jerk", "Acceleration" and "Deceleration".
Figure 74 - MC_MoveAbsolute Function Block
An axis is moved to absolute position 1000.0 with an MC_MoveAbsolute command. When the axis reaches the target
position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveAbsolute command, with target position

1500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis comes to a standstill
briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via "Done_2".
An active MC_MoveAbsolute command is aborted by another MC_MoveAbsolute command. The abort is signaled via
"Abort_1". The axis is then moved at the new velocity to the new target position 1500.0. When the new target position is
reached, this is signaled via "Done_2".
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Using the MC_Halt Function Block
The MC_Halt function block is used to brake an axis to a standstill. The block is also used to abort any
currently active job on the axis.
Figure 75 - MC_Halt Function Block
The axis is braked by an MC_Halt command until it comes to a standstill. The axis standstill is signaled via "Done_2".
While an MC_Halt command is braking the axis, this command is aborted by another motion command. The abort is

signaled via "Abort_2".
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Using the MC_CommandTable Function Block
This function block is used to perform a sequence of motion commands.
Parameter Declaration Data type Default Value Description
Axis INPUT TO_SpeedAxis - Axis technology object
CommandTable INPUT TO_CommandTable - Command table technology object
Execute INPUT BOOL FALSE Command table start with positive edge
StartStep INPUT INT 1 Defines the step at which the execution of the
command table should begin
Limit values:
1 StartStep EndStep
EndStep INPUT INT 32 Defines the step up to which the execution of

command table should take place
Limit values:
StartStep EndStep 32
Done OUTPUT BOOL FALSE Command table has been successfully executed
Busy OUTPU BOOL FALSE The command table is being executed
CommandAborted OUTPUT BOOL FALSE The command table was cancelled by another
command.
Error OUTPUT BOOL FALSE An error occurred during execution of the

command table. The cause of the error can be
found in parameters "ErrorID" and "ErrorInfo".
ErrorID OUTPUT WORD 16#0000 Error ID for parameter "Error"
ErrorInfo OUTPUT WORD 16#0000 Error info ID for parameter "ErrorID"
CurrentStep OUTPUT INT 0 Step in command table currently being executed
StepCode OUTPUT WORD 16#0000 User-defined numerical value / bit pattern of the
step currently being executed
V0_0A 86
Using the MC_ChangeDynamic Function Block
This function block must be used in order to change any of the technology object axis dynamics.
Axis INPUT TO_SpeedAxis - Axis technology object

Execute INPUT BOOL FALSE Start of the command with a positive edge
ChangeRampUp INPUT BOOL FALSE Change ramp-up time in line with input parameter
"RampUpTime"
RampUpTime INPUT REAL 5 Time (in seconds) to accelerate axis from standstill
to configured maximum velocity without jerk limit.
The change will influence the tag <Axis name>.
Config.DynamicDefaults.Acceleration. For the
effectiveness of the change, refer to the description
of this tag.
ChangeRampDown INPUT BOOL FALSE Change ramp-down time to correspond to input

parameter "RampDownTime"
RampDownTime INPUT REAL 5 Time (in seconds) to decelerate axis from the
configured maximum velocity to standstill without
jerk limiter.
Config.DynamicDefaults.Deceleration . For the
effectiveness of the change, refer to the description
of this tag.
ChangeEmergency INPUT BOOL FALSE Change emergency stop ramp-down time in line
with input parameter "EmergencyRampTime"
EmergencyRampTime INPUT REAL 2 Time (in seconds) to decelerate the axis from
configured maximum velocity to standstill without
jerk limiter in emergency stop mode.
Config.DynamicDefaults.EmergencyDeceleration .
For the effectiveness of the change, refer to the
description of this tag.
ChangeJerkTime INPUT BOOL FALSE Change smoothing time according to the input
parameter "JerkTime"
JerkTime INPUT REAL 0.25 Smoothing time (in seconds) used for the axis
acceleration and deceleration ramps
Config.DynamicDefaults.Jerk . For the effectiveness
of the change, refer to the description of this tag.
Done OUTPUT BOOL FALSE The changed values have been written to the
technology data block. The description of the tags
will show when the change becomes effective.
V0_0A 87
command. The cause of the error can be found in
parameters "ErrorID" and "ErrorInfo".
Using the MC_WriteParam Function Block
This function block allows you to write to tags of the axis technology object. In contrast to the value
assignment of tags within the user program, with this function block you can also change the values of
read-only tags.
Parameter INPUT VARIANT - VARIANT pointer to the technology object tag

(BOOL, INT, positioning axis (destination address) to be written
DINT, REAL)
Value INPUT VARIANT - VARIANT pointer to the value to be written (source
(BOOL, INT, address)
DINT, REAL)
Execute INPUT BOOL FALSE Start of the command with a positive edge
Done OUTPUT BOOL FALSE Value was written
Busy OUTPUT BOOL FALSE The command is being executed
V0_0A 88
Using the MC_ReadParam Function Block
This function block allows for continuous reading of motion and status data from a technology object axis.
Enable INPUT BOOL FALSE Read the tag specified with the "Parameter" and
store the value in the destination address specified
with "Value".
Parameter INPUT VARIANT - VARIANT pointer to the value to be read. The
(REAL) following tags are permitted:
<Axis name>.Position
<Axis name>.Velocity
<Axis name>.ActualPosition
<Axis name>.ActualVelocity
<Axis name>.StatusPositioning.<Tag name>
<Axis name>.StatusDrive.<Tag name>
<Axis name>.StatusSensor.<Tag name>
<Axis name>.StatusBits.<Tag name>
<Axis name>.ErrorBits.<Tag name>
The description of the tags named and the tag
structures can be found in the Appendix Tags of the
positioning axis technology object as of V4.
Value INOUT VARIANT - VARIANT pointer to the target tag or destination
(REAL) address to which the read value is to be written.
Valid OUTPUT BOOL FALSE The read value is valid.
Busy OUTPUT BOOL FALSE The command is being executed
V0_0A 89
A4 Tuning the SINAMICS V90 Drive
A4.1 One Button Auto-Tuning
Tuning the SINAMICS V90 Drive A4

One-button auto tuning estimates the machine load moment of inertia and mechanical characteristics with
internal motion commands. To achieve the desired performance, you can execute the process many times
before you control the drive with the host controller. The maximum speed is limited by the rated speed.
Note The one-button auto tuning function is valid for V-ASSISTANT firmware version V1.04.00
and higher.
Note Before using the one-button auto tuning, move the servo motor to the middle of mechanical
position to avoid approaching the actual machine position limit.
Pre-conditions for One Button Auto-Tuning
The ratio of machine load moment of inertia is unknown and needs to be estimated.
The motor is allowed to rotate both clockwise and anti-clockwise.
The motor rotation position (p29027 defines that one revolution equals to 360 degree) is allowed by
the machine.
- For a motor with an absolute encoder: position limitation is defined by p29027.
- For a motor with an incremental encoder: the motor must be allowed to rotate freely by
two turns when tuning starts.
Implement One Button Auto-Tuning
1. Select the dynamic factor in the following area:
Figure 76 - Set Tuning Dynamic Factor
Selecting the Dynamic Factor

Refer to the One-Button Auto Tuning chapter 9.3 (p252) from SINAMICS V90, SIMOTICS
S-1FL6 Operating Instructions for more detailed information.
V0_0A 90
2. Configure the test signal in the section below:
Figure 77 - Configure Tuning Test Signal
Note
The recommended position amplitude (p29027) is 360 degrees.
3. Click on the following button to configure the parameters for the one-button auto tuning function.
4. Set the parameters in the window below:
Figure 78 - Set Tuning Advanced Settings
Set the ratio of machine load moment of inertia (p29022) with either of the following methods:
- Enter it manually if the ratio is known.
V0_0A 91
- Estimate the ratio with the one-button auto-tuning (p29023.2 = 1). When you have
executed the tuning many times and have obtained a stable value of p29022, you can stop
estimating it by setting p29023.2 = 0.
5. Click the following button to enable the tuning function after the parameters have been set.
6. Click the following button the start the tuning function.
7. After the tuning is complete, the tuning results window appears:
Figure 79 - Confirm Tuning Results Window
Press the Accept button to apply the values obtained through the tuning function, or press the Abort
button to revert back to the old values.
8. Once the tuning is complete and the drive performance is acceptable, perform a Save Parameters to
ROM function to save the tuning values in the drive.
Note After servo on, the motor will run with the test signal.
When the one-button auto tuning process completes successfully, the parameter p29021
will be set to 0 automatically. You can also set the parameter p29021 to 0 before servo on
to interrupt the one-button auto tuning. Before you save the parameters on the drive, make
sure that p29021 has changed to 0.
Note Do not use the JOG function when you use the one-button tuning function.
Note
After the one-button tuning function is activated, no operation will be allowed except the
V0_0A 92
servo off and emergency stop.
Note After one-button auto tuning is activated, do not change other auto tuning related
control/filter parameters since these parameters can be set automatically and your changes
will not be accepted.
Note One-button auto tuning can cause some changes of the control parameters. When the
system rigidity is low, this may lead to a situation that when you set EMGS = 0, the motor
needs take long time to emergency stop.
V0_0A 93
A5 Revision History
Revision History A5
Version Date Change
V0_0A 06/2016 Initial Version
V0_0A 94

Setup Guide - S7-1200 V90 Pulse Train

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Setup Guide - S7-1200 V90 Pulse Train

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SINAMICS V90 and S7-1200 PLC with Pulse Train Control

HMK Automation & Drives ........................................................................................................................ 3

Aim Summary ........................................................................................................................................... 5

Application Wiring ......................................................................................................................................... 7

Application Wiring Diagram ....................................................................................................................... 7

E-Stop Wiring for On-board SINAMICS V90 STO ..................................................................................... 8

Drive Configuration ..................................................................................................................................... 10

Inserting the Drive ................................................................................................................................... 10

Configuring the Drive .............................................................................................................................. 11

Tuning the Drive...................................................................................................................................... 15

Controller Configuration .............................................................................................................................. 19

S7-1200 Configuration ............................................................................................................................ 19

Drive Control Strategy ................................................................................................................................ 24

S7-1200 Configuration ............................................................................................................................ 24

Example Program ................................................................................................................................... 32

Application Wiring with Signal Board .................................................................................................... 42

Hardware Overview .................................................................................................................................... 43

S7-1200 PLC Hardware Overview .......................................................................................................... 43

SINAMICS V90 Hardware Overview ....................................................................................................... 50

Overview of the Programming Environment................................................................................................ 57

Overview of TIA Portal ............................................................................................................................ 57

Overview of V-ASSISTANT ..................................................................................................................... 69

Technology Objects .................................................................................................................................... 77

Technology Object Data Block ................................................................................................................ 77

Technology Object Function Blocks ........................................................................................................ 79

Tuning the SINAMICS V90 Drive ................................................................................................................ 90

One Button Auto-Tuning ......................................................................................................................... 90

HMK Automation & Drives is located in Congleton, Cheshire.

HMKs website has contact details for both of our sites.

Google Maps link for Kappa House.

Google Maps link for Radnor Park.

What you will need:

Note In order to commission single-phase SINAMICS V90 units, a minimum V-ASSISTANT

Item No. Description QTY Application Part Number Optional

1 SINAMICS V90 Drive Unit 1 6SL3210-5FB10-1UA0 -

V-ASSISTANT Download (V1.03.00)

Figure 1 - Application Wiring Diagram

2.2 E-Stop Wiring for On-board SINAMICS V90 STO

Interface Signal Name Description

STO 1 Safe torque off channel 1

Figure 2 - SINAMICS V90 E-Stop STO Wiring

Figure 3 - Insert Drive

Figure 4 - Select Motor

Figure 5 - Select Control Mode

3.2 Configuring the Drive

Setting the Pulses per Revolution (PPR)

Figure 6 - Set Motor PPR

Figure 7 - SINAMICS V90 Signal Selection

Assigning the Digital Inputs

Figure 8 - Assign Digital Inputs

Assigning the Digital Outputs

Figure 9 - Assign Digital Outputs

DI X8 Pin Description DO X8 Pin Description

DI 1 5 Digital Input 1 DO 1 30 Digital Output 1

Figure 10 - Jog Motor

Save Parameters to ROM

3.3 Tuning the Drive

Optimizing the Drive

Pre-conditions for Real-Time Auto-Tuning

The drive must be under the control of the host controller.

Implement Real-Time Auto-Tuning

1. Select the dynamic factor in the following area:

Figure 11 - Set Tuning Dynamic Factor